Research map / Learning theory and algorithms / Combinatorial and search optimization
ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| enable loop closure | ICE-BA · EuRoC, Avg | translation RMSE (m): 0.12 -> 0.08 | Helped |
| do not fix linearization points (ablation) | ICE-BA · EuRoC | LBA time (ms): 2.45 -> 10.3 | Hurt |
| do not fix linearization points (ablation) | ICE-BA · EuRoC | GBA time (ms): 12.90 -> 103.94 | Hurt |
| remove ST-IBA (ablation) | ICE-BA · EuRoC | LBA time (ms): 2.45 -> 7.03 | Hurt |
| add ST-IBA (ablation) | ICE-BA · EuRoC | RMSE (m): 0.123548 -> 0.120792 | Helped |
| remove I-PCG (ablation) | ICE-BA · EuRoC | RMSE (m): 0.120792 -> 0.152073 | Hurt |
| remove relative marginalization (ablation) | ICE-BA · EuRoC | RMSE (m): 0.120792 -> 0.179655 | Hurt |
| remove relative marginalization (ablation) | ICE-BA · EuRoC | GBA time (ms): 12.90 -> 13.50 | Hurt |
Closest papers by meaning
- DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization (NeurIPS 2024 · similarity 0.86)
- Adaptive VIO: Deep Visual-Inertial Odometry with Online Continual Learning (CVPR 2024 · similarity 0.86)
- GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting (CVPR 2024 · similarity 0.85)
- From Variance to Veracity: Unbundling and Mitigating Gradient Variance in Differentiable Bundle Adjustment Layers (CVPR 2024 · similarity 0.84)
- Gaussian Splatting SLAM (CVPR 2024 · similarity 0.84)
- MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors (CVPR 2025 · similarity 0.84)
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